Grabbing manipulator

Abstract

The utility model discloses a grabbing manipulator, and particularly relates to the technical field of grabbing manipulators, the grabbing manipulator comprises a grabbing supporting plate, a connecting mounting plate is arranged outside the upper end of the grabbing supporting plate, a driving telescopic rod is arranged in the middle of the upper end of the grabbing supporting plate, and an output shaft of the driving telescopic rod penetrates through the end face of the grabbing supporting plate and extends to the lower end of the grabbing supporting plate; a mounting block is arranged on the outer side of the end face of the grabbing supporting plate, and a concave clamping groove is formed in one side of the outer end face of the mounting block. During actual use, the clamping plate can be conveniently mounted and replaced under the corresponding arrangement state of the adaptive insertion block, the adaptive mounting groove, the limiting mounting groove, the connecting screw and the concave thread groove, so that the influence on the clamping stability of the clamping plate when the surface of the clamping plate is abraded is avoided, and the service life of the clamping plate is prolonged. And meanwhile, in the corresponding arrangement state of the first rotary connecting plate, the second rotary connecting plate and the rotary pull rod, the output shaft of the driving telescopic rod can drive the rotary pull rod to be pulled inwards.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of grabbing manipulator, more specifically, the utility model relates to a kind of grabbing manipulator. BACKGROUND

[0002] Manipulator is a kind of can imitate the action function of human hand and arm, to grasp, transport object or operate tool according to fixed program, automatic operation device is intended to complete various expected work by programming.The biggest difference between mechanical arm and human arm is flexibility and endurance under the progress of science and technology day by day, for example, the patent of the prior art announcement No.CN205817864U discloses a kind of grabbing manipulator, clamping spring is installed on mechanical hand claw, hand claw is connected with cylinder hand claw together in the way of screw thread connection, the back of cylinder hand claw is equipped with inductor fixed plate, detection inductor is installed on inductor fixed plate, cylinder hand claw is installed on the lower end surface of cylinder fixed plate, its upper end surface cooperates with rotating shaft, left fixed plate, right fixed plate, upper fixed plate, lower fixed plate are connected to form base through welding process, rotating bearing is installed on the upper surface of lower fixed plate, and cooperates with rotating shaft, inductive sheet is installed on the machining boss of rotating shaft, zero potential switch is installed on the right side surface of left fixed plate, the other end of rotating shaft cooperates with speed reducer, speed reducer upper assembly driving motor, lower fixed plate is connected in the way of bolt connection on connecting plate.

[0003] The above device is when working, control precision is higher, stability is good, applicability is better, but its when long-term use, the surface of hand claw is prone to wear, to cause the influence to the stability of article clamping, it is inconvenient to replace hand claw. UTILITY MODEL CONTENT

[0004] In order to overcome the above-mentioned defects of the prior art, the utility model provides a kind of grabbing manipulator, and the technical problems to be solved by the utility model are: how to conveniently install and replace the clamping plate.

[0005] To achieve the above object, the utility model provides the following technical scheme: a kind of grabbing manipulator, including grabbing support plate, the outer portion of its upper end is equipped with connecting mounting plate, the middle part of the upper end of the grabbing support plate is equipped with drive telescopic rod, the output shaft of the drive telescopic rod passes through the end surface of the grabbing support plate, and extends to its lower end, the outer side of the end surface of the grabbing support plate is equipped with mounting block, one side of the outer end surface of the mounting block is equipped with concave clamping groove, the outer side of the lower end of the mounting block is equipped with first rotary connecting plate and second rotary connecting plate, the middle part of the inner end surface of the second rotary connecting plate is equipped with rotary support rod;

[0006] The outer side of the lower end of the first and second rotary connecting plates is provided with a grabbing hand, the side end face of the grabbing hand is provided with a limiting installation slot, the upper side of the inner end face of the limiting installation slot is provided with a limiting insertion slot, the outer side of the side of the grabbing hand is provided with a clamping plate, the outer side of the clamping plate is provided with an adaptive installation slot, and the upper end of the clamping plate is provided with an adaptive insertion block.

[0007] In a preferred embodiment, the outer side of the upper end of the grabbing support plate is provided with an installation connecting rod, and the grabbing support plate, the installation connecting rod, the connecting installation plate and the installation connecting rod are connected through locking bolts;

[0008] The installation blocks are connected through the installation screws, and the output shaft of the driving telescopic rod is provided with a rotary pull rod at the lower end of the grabbing support plate.

[0009] In a preferred embodiment, the side end face of the rotary pull rod is provided with a circular adaptive hole, and the outer side of the outer end face of the clamping plate is provided with an anti-skid protrusion away from the adaptive installation slot;

[0010] The side end faces of the grabbing hand and the clamping plate are both provided with concave threaded grooves, and the inside of the concave threaded grooves is provided with a connecting screw.

[0011] In a preferred embodiment, the number of the installation connecting rods and the locking bolts is multiple, and the installation connecting rods and the locking bolts are arranged in an array state on both sides of the vertical central axis in the top view direction of the grabbing support plate;

[0012] The driving telescopic rod is in an electrically connected state with an external control device, the number of the rotary pull rods is two, and the rotary pull rods are arranged in a rotary state of 180° on the outer side of the central point in the top view direction of the driving telescopic rod.

[0013] In a preferred embodiment, the number of the anti-skid protrusions is multiple, and the anti-skid protrusions are arranged in an array state on both sides of the horizontal central axis in the front view direction of the clamping plate, and the outer end face of the connecting screw is connected with the inner end face of the concave threaded groove through threads;

[0014] The outer end faces of the grabbing support plate and the connecting installation plate are arranged in a coplanar state in the top view direction, and the number of the installation blocks is two, and the installation blocks are arranged in a mirror image state on both sides of the vertical central axis in the front view direction of the grabbing support plate.

[0015] In a preferred embodiment, the inner end face of the concave clamping slot is matched with the outer end face of the grabbing support plate, and the outer end face of the rotary support rod is matched with the inner end face of the circular adaptive hole;

[0016] The inner end face of the limiting installation slot is matched with the outer end face of the clamping plate on one side, and the outer end face of the adaptive insertion block is matched with the inner end face of the limiting insertion slot.

[0017] The technical effect and advantages of the utility model are:

[0018] The utility model discloses a practical use, through the corresponding setting state of adaptive plug -in block, adaptive installation groove, limit installation groove, connecting screw and concave thread groove, can conveniently install and replace the clamping plate to avoid the influence that the stability of clamping plate clamping will be caused when the surface of clamping plate produces abrasion, and under the corresponding setting state of first rotary connecting plate, second rotary connecting plate and rotary pull rod, the rotary pull rod will be pulled to the inside under the drive telescopic rod output shaft, then will drive the inside movement of the grabbing hand under the cooperation state of first rotary connecting plate and second rotary connecting plate, thereby conveniently clamping work is carried out to the article. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is whole structure schematic diagram of the utility model.

[0020] Figure 2 It is whole bottom structure schematic diagram of the utility model.

[0021] Figure 3 It is grabbing hand connecting structure schematic diagram of the utility model.

[0022] Figure 4 It is clamping plate connecting structure schematic diagram of the utility model.

[0023] The figure mark is: 1 grabbing support plate, 2 connecting installation plate, 3 installation connecting rod, 4 locking bolt, 5 installation block, 6 first rotary connecting plate, 7 grabbing hand, 8 drive telescopic rod, 9 second rotary connecting plate, 10 rotary pull rod, 11 concave slot, 12 installation screw, 13 rotary support rod, 14 round adaptive hole, 15 clamping plate, 16 adaptive plug -in block, 17 adaptive installation groove, 18 anti -skid boss, 19 limit installation groove, 20 limit slot, 21 connecting screw, 22 concave thread groove. DETAILED DESCRIPTION

[0024] The utility model provides a kind of grabbing manipulator, as Figure 1 And 2 As shown, including grabbing support plate 1, the outside of its upper end is equipped with connecting installation plate 2, the middle part of the upper end of the grabbing support plate 1 is equipped with drive telescopic rod 8, the output shaft of the drive telescopic rod 8 passes from the end surface of grabbing support plate 1, and extends to its lower end;

[0025] The outside of the end surface of the grabbing support plate 1 is equipped with installation block 5, the outside of the lower end of the installation block 5 is equipped with first rotary connecting plate 6 and second rotary connecting plate 9, the outside of the lower end of the first rotary connecting plate 6 and second rotary connecting plate 9 is equipped with grabbing hand 7, the outside of the upper end of the grabbing support plate 1 is equipped with installation connecting rod 3;

[0026] The grabbing support plate 1 is connected with the mounting connecting rod 3 and the connecting mounting plate 2 through the locking bolt 4, and the output shaft of the driving telescopic rod 8 is provided with the rotary pull rod 10 at the lower end of the grabbing support plate 1;

[0027] The mounting connecting rod 3 and the locking bolt 4 are provided in plurality, and are arranged in an array state on both sides of the vertical central axis of the grabbing support plate 1 in the top view direction, and the driving telescopic rod 8 is in an electrically connected state with the external control device;

[0028] The rotary pull rod 10 is provided in two, and is arranged in a rotation of 180° on the outside of the central point of the driving telescopic rod 8 in the top view direction, the grabbing support plate 1 and the connecting mounting plate 2 are arranged in a coplanar state on the outer end surface in the top view direction, and the mounting block 5 is provided in two and arranged in a mirror image state on both sides of the vertical central axis of the grabbing support plate 1 in the front view direction.

[0029] As shown in Figure 3 and 4 The outer end surface of the mounting block 5 is provided with a concave clamping groove 11 on one side, the inner end surface of the second rotary connecting plate 9 is provided with a rotary support rod 13 in the middle, and the one side end surface of the grabbing hand 7 is provided with a limiting installation slot 19;

[0030] The upper side of the inner end surface of the limiting installation slot 19 is provided with a limiting insertion slot 20, one side of the outer end surface of the grabbing hand 7 is provided with a clamping plate 15, one side of the outer end surface of the clamping plate 15 is provided with an adaptive installation slot 17, the upper end of the clamping plate 15 is provided with an adaptive insertion block 16, and the mounting block 5 is connected through the mounting screw 12;

[0031] The one side end surface of the rotary pull rod 10 is provided with a circular adaptive hole 14, the outer end surface of the clamping plate 15 is provided with an anti-skid protrusion 18 on the side away from the adaptive installation slot 17, which can increase the stability of the clamping plate 15 clamping the object, and the one side end surface of the grabbing hand 7 and the clamping plate 15 is provided with a concave threaded groove 22, and the inner end surface of the concave threaded groove 22 is provided with a connecting screw 21;

[0032] The number of anti-skid protrusions 18 is provided in plurality, and is arranged in an array state on both sides of the horizontal central axis of the clamping plate 15 in the front view direction, the outer end surface of the connecting screw 21 is connected with the inner end surface of the concave threaded groove 22 through threads, which can effectively increase the stability of the clamping plate 15 connection, the inner end surface of the concave clamping groove 11 is matched with the outer end surface of the grabbing support plate 1, which can facilitate the installation of the mounting block 5 on the outer end surface of the grabbing support plate 1;

[0033] The outer end surface of the rotating support rod 13 is matched with the inner end surface of the circular matching hole 14, which can conveniently pull the second rotating connecting plate 9 to incline when the driving telescopic rod 8 drives the rotating pull rod 10 to incline, so as to conveniently drive the grabbing hand 7 to move inward, thereby facilitating clamping work on the article.

[0034] Principle of the utility model:

[0035] When the utility model is used, the staff drives the driving telescopic rod 8 to work through the external control equipment, the driving telescopic rod 8 drives the rotating pull rod 10 to pull through the output shaft, the rotating pull rod 10 drives the grabbing hand 7 to move inward through the cooperation of the first rotating connecting plate 6 and the second rotating connecting plate 9, thereby facilitating clamping of the article, when the surface of the clamping plate 15 is abraded, the stability of the clamping plate 15 is affected, the staff can take out the connecting screw 21 from the inside of the concave thread groove 22, then the staff can slide the clamping plate 15 out from the inside of the limiting installation groove 19, then the new clamping plate 15 can be inserted into the inside of the limiting insertion groove 20, then the clamping plate 15 can be locked and fixed through the connecting screw 21.

[0036] Finally, it should be pointed out that: the utility model discloses the drawings in the embodiment, only relate to the structure involved in the embodiment, other structures can refer to the usual design, in the case of no conflict, the same embodiment and different embodiments of the utility model can be combined with each other;

[0037] The above only for the preferred embodiment of the utility model, and does not limit the utility model, any modification, equivalent replacement, improvement etc. within the spirit and principles of the utility model, should be contained in the protection scope of the utility model.

Claims

1. A gripping robot, characterized in that Include: The outer side of the upper end of the grabbing support plate (1) is provided with a connecting mounting plate (2), the middle part of the upper end of the grabbing support plate (1) is provided with a driving telescopic rod (8), the output shaft of the driving telescopic rod (8) passes through the end face of the grabbing support plate (1) and extends to the lower end, the outer side of the end face of the grabbing support plate (1) is provided with a mounting block (5), one side of the outer end face of the mounting block (5) is provided with a concave clamping groove (11), the outer side of the lower end of the mounting block (5) is provided with a first rotating connecting plate (6) and a second rotating connecting plate (9), the middle part of the inner end face of the second rotating connecting plate (9) is provided with a rotating support rod (13); The outer side of the lower end of the first rotating connecting plate (6) and the second rotating connecting plate (9) is provided with a grabbing hand (7), one side of the end face of the grabbing hand (7) is provided with a limiting installation groove (19), the upper side of the inner end face of the limiting installation groove (19) is provided with a limiting insertion groove (20), one side of the outer end face of the grabbing hand (7) is provided with a clamping plate (15), one side of the outer end face of the clamping plate (15) is provided with an adaptive installation groove (17), the upper end of the clamping plate (15) is provided with an adaptive insertion block (16).

2. A gripping manipulator according to claim 1, characterized in that: The outer side of the upper end of the grabbing support plate (1) is provided with a mounting connecting rod (3), the grabbing support plate (1) and the mounting connecting rod (3), the connecting mounting plate (2) and the mounting connecting rod (3) are connected by locking bolts (4); The mounting block (5) is connected by the mounting screw (12), and the output shaft of the driving telescopic rod (8) is provided with a rotating pull rod (10) at the lower end of the grabbing support plate (1).

3. A gripping manipulator according to claim 2, characterized in that: One side of the end face of the rotating pull rod (10) is provided with a circular adaptive hole (14), and the outer end face of the clamping plate (15) is provided with an anti-skid protrusion (18) away from the adaptive installation groove (17); One side of the end face of the grabbing hand (7) and the clamping plate (15) is provided with a concave threaded groove (22), and the inside of the concave threaded groove (22) is provided with a connecting screw (21).

4. A gripping manipulator according to claim 2, characterized in that: The number of the mounting connecting rod (3) and the locking bolt (4) is multiple, and they are arranged in an array state on both sides of the vertical central axis in the top view direction of the grabbing support plate (1); The driving telescopic rod (8) is in electrical connection with the external control device, and the number of the rotating pull rod (10) is two, which is arranged in a rotating state of 180° on the outer side of the central point in the top view direction of the driving telescopic rod (8).

5. A gripping manipulator according to claim 3, characterized in that: The number of the anti-skid protrusion (18) is multiple, which is arranged in an array state on both sides of the horizontal central axis in the front view direction of the clamping plate (15), and the outer end face of the connecting screw (21) is connected with the inner end face of the concave threaded groove (22) through threads; The outer end face of the grabbing support plate (1) and the connecting mounting plate (2) in the top view direction is arranged in a coplanar state, and the number of the mounting block (5) is two, which is arranged in a mirror image state on both sides of the vertical central axis in the front view direction of the grabbing support plate (1).

6. A gripping manipulator according to claim 3, characterized in that: The inner end face of the concave clamping groove (11) is matched with the outer end face of the grabbing support plate (1), and the outer end face of the rotating support rod (13) is matched with the inner end face of the circular adaptive hole (14); The inner end face of the limiting installation slot (19) is matched with one side of the outer end face of the clamping plate (15), and the outer end face of the matching plug block (16) is matched with the inner end face of the limiting slot (20).

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